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<div class="title">transforms.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
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<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
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<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">   42</a></span>&#160;<a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;                          <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out,</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                          <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform,</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                          <span class="keywordtype">bool</span> copy_all_fields)</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordflow">if</span> (&amp;cloud_in != &amp;cloud_out)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.reserve (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">if</span> (copy_all_fields)</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.assign (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.begin (), cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.end ());</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>      = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  }</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordflow">if</span> (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="comment">// If the dataset is dense, simply transform it!</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="comment">//cloud_out.points[i].getVector3fMap () = transform * cloud_in.points[i].getVector3fMap ();</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      Eigen::Matrix&lt;Scalar, 3, 1&gt; pt (cloud_in[i].x, cloud_in[i].y, cloud_in[i].z);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      cloud_out[i].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (0, 0) * pt.coeffRef (0) + transform (0, 1) * pt.coeffRef (1) + transform (0, 2) * pt.coeffRef (2) + transform (0, 3));</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      cloud_out[i].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (1, 0) * pt.coeffRef (0) + transform (1, 1) * pt.coeffRef (1) + transform (1, 2) * pt.coeffRef (2) + transform (1, 3));</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      cloud_out[i].z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (2, 0) * pt.coeffRef (0) + transform (2, 1) * pt.coeffRef (1) + transform (2, 2) * pt.coeffRef (2) + transform (2, 3));</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  }</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="comment">// Dataset might contain NaNs and Infs, so check for them first,</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="comment">// otherwise we get errors during the multiplication (?)</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x) || </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          !pcl_isfinite (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y) || </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;          !pcl_isfinite (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z))</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="comment">//cloud_out.points[i].getVector3fMap () = transform * cloud_in.points[i].getVector3fMap ();</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      Eigen::Matrix&lt;Scalar, 3, 1&gt; pt (cloud_in[i].x, cloud_in[i].y, cloud_in[i].z);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      cloud_out[i].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (0, 0) * pt.coeffRef (0) + transform (0, 1) * pt.coeffRef (1) + transform (0, 2) * pt.coeffRef (2) + transform (0, 3));</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      cloud_out[i].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (1, 0) * pt.coeffRef (0) + transform (1, 1) * pt.coeffRef (1) + transform (1, 2) * pt.coeffRef (2) + transform (1, 3));</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      cloud_out[i].z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (2, 0) * pt.coeffRef (0) + transform (2, 1) * pt.coeffRef (1) + transform (2, 2) * pt.coeffRef (2) + transform (2, 3));</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;}</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="group__common.html#ga76dfccbfb85ec0b318be578916cd4036">   95</a></span>&#160;<a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                          <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                          <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out,</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                          <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform,</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                          <span class="keywordtype">bool</span> copy_all_fields)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;{</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordtype">size_t</span> npts = indices.size ();</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="comment">// In order to transform the data, we need to remove NaNs</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (npts);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = 1;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (npts);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>      = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordflow">if</span> (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="comment">// If the dataset is dense, simply transform it!</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; npts; ++i)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="comment">// Copy fields first, then transform xyz data</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keywordflow">if</span> (copy_all_fields)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i] = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]];</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="comment">//cloud_out.points[i].getVector3fMap () = transform*cloud_out.points[i].getVector3fMap ();</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      Eigen::Matrix&lt;Scalar, 3, 1&gt; pt (cloud_in[indices[i]].x, cloud_in[indices[i]].y, cloud_in[indices[i]].z);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      cloud_out[i].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (0, 0) * pt.coeffRef (0) + transform (0, 1) * pt.coeffRef (1) + transform (0, 2) * pt.coeffRef (2) + transform (0, 3));</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      cloud_out[i].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (1, 0) * pt.coeffRef (0) + transform (1, 1) * pt.coeffRef (1) + transform (1, 2) * pt.coeffRef (2) + transform (1, 3));</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      cloud_out[i].z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (2, 0) * pt.coeffRef (0) + transform (2, 1) * pt.coeffRef (1) + transform (2, 2) * pt.coeffRef (2) + transform (2, 3));</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  {</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="comment">// Dataset might contain NaNs and Infs, so check for them first,</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="comment">// otherwise we get errors during the multiplication (?)</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; npts; ++i)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    {</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordflow">if</span> (copy_all_fields)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i] = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]];</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].x) || </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          !pcl_isfinite (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].y) || </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          !pcl_isfinite (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].z))</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="comment">//cloud_out.points[i].getVector3fMap () = transform*cloud_out.points[i].getVector3fMap ();</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      Eigen::Matrix&lt;Scalar, 3, 1&gt; pt (cloud_in[indices[i]].x, cloud_in[indices[i]].y, cloud_in[indices[i]].z);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      cloud_out[i].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (0, 0) * pt.coeffRef (0) + transform (0, 1) * pt.coeffRef (1) + transform (0, 2) * pt.coeffRef (2) + transform (0, 3));</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      cloud_out[i].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (1, 0) * pt.coeffRef (0) + transform (1, 1) * pt.coeffRef (1) + transform (1, 2) * pt.coeffRef (2) + transform (1, 3));</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      cloud_out[i].z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (2, 0) * pt.coeffRef (0) + transform (2, 1) * pt.coeffRef (1) + transform (2, 2) * pt.coeffRef (2) + transform (2, 3));</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;}</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<a class="code" href="group__common.html#ga01dcf9e24dec3109a0c8a8b8f2e24bcc">pcl::transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out,</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                                     <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform,</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                                     <span class="keywordtype">bool</span> copy_all_fields)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;{</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordflow">if</span> (&amp;cloud_in != &amp;cloud_out)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="comment">// Note: could be replaced by cloud_out = cloud_in</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.reserve (cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordflow">if</span> (copy_all_fields)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.assign (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.begin (), cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.end ());</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>      = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordflow">if</span> (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  {</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    {</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="comment">//cloud_out.points[i].getVector3fMap() = transform * cloud_in.points[i].getVector3fMap ();</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      Eigen::Matrix&lt;Scalar, 3, 1&gt; pt (cloud_in[i].x, cloud_in[i].y, cloud_in[i].z);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      cloud_out[i].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (0, 0) * pt.coeffRef (0) + transform (0, 1) * pt.coeffRef (1) + transform (0, 2) * pt.coeffRef (2) + transform (0, 3));</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      cloud_out[i].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (1, 0) * pt.coeffRef (0) + transform (1, 1) * pt.coeffRef (1) + transform (1, 2) * pt.coeffRef (2) + transform (1, 3));</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      cloud_out[i].z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (2, 0) * pt.coeffRef (0) + transform (2, 1) * pt.coeffRef (1) + transform (2, 2) * pt.coeffRef (2) + transform (2, 3));</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="comment">// Rotate normals (WARNING: transform.rotation () uses SVD internally!)</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="comment">//cloud_out.points[i].getNormalVector3fMap() = transform.rotation () * cloud_in.points[i].getNormalVector3fMap ();</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      Eigen::Matrix&lt;Scalar, 3, 1&gt; nt (cloud_in[i].normal_x, cloud_in[i].normal_y, cloud_in[i].normal_z);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      cloud_out[i].normal_x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (0, 0) * nt.coeffRef (0) + transform (0, 1) * nt.coeffRef (1) + transform (0, 2) * nt.coeffRef (2));</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      cloud_out[i].normal_y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (1, 0) * nt.coeffRef (0) + transform (1, 1) * nt.coeffRef (1) + transform (1, 2) * nt.coeffRef (2));</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      cloud_out[i].normal_z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (2, 0) * nt.coeffRef (0) + transform (2, 1) * nt.coeffRef (1) + transform (2, 2) * nt.coeffRef (2));</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    }</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="comment">// Dataset might contain NaNs and Infs, so check for them first.</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x) || </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          !pcl_isfinite (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y) || </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          !pcl_isfinite (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z))</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="comment">//cloud_out.points[i].getVector3fMap() = transform * cloud_in.points[i].getVector3fMap ();</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      Eigen::Matrix&lt;Scalar, 3, 1&gt; pt (cloud_in[i].x, cloud_in[i].y, cloud_in[i].z);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      cloud_out[i].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (0, 0) * pt.coeffRef (0) + transform (0, 1) * pt.coeffRef (1) + transform (0, 2) * pt.coeffRef (2) + transform (0, 3));</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      cloud_out[i].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (1, 0) * pt.coeffRef (0) + transform (1, 1) * pt.coeffRef (1) + transform (1, 2) * pt.coeffRef (2) + transform (1, 3));</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      cloud_out[i].z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (2, 0) * pt.coeffRef (0) + transform (2, 1) * pt.coeffRef (1) + transform (2, 2) * pt.coeffRef (2) + transform (2, 3));</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="comment">// Rotate normals</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="comment">//cloud_out.points[i].getNormalVector3fMap() = transform.rotation () * cloud_in.points[i].getNormalVector3fMap ();</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      Eigen::Matrix&lt;Scalar, 3, 1&gt; nt (cloud_in[i].normal_x, cloud_in[i].normal_y, cloud_in[i].normal_z);</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      cloud_out[i].normal_x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (0, 0) * nt.coeffRef (0) + transform (0, 1) * nt.coeffRef (1) + transform (0, 2) * nt.coeffRef (2));</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      cloud_out[i].normal_y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (1, 0) * nt.coeffRef (0) + transform (1, 1) * nt.coeffRef (1) + transform (1, 2) * nt.coeffRef (2));</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      cloud_out[i].normal_z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (2, 0) * nt.coeffRef (0) + transform (2, 1) * nt.coeffRef (1) + transform (2, 2) * nt.coeffRef (2));</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  }</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;}</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;<a class="code" href="group__common.html#ga01dcf9e24dec3109a0c8a8b8f2e24bcc">pcl::transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;                                     <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out,</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                                     <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform,</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                                     <span class="keywordtype">bool</span> copy_all_fields)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;{</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <span class="keywordtype">size_t</span> npts = indices.size ();</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="comment">// In order to transform the data, we need to remove NaNs</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (npts);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = 1;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (npts);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>      = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <span class="keywordflow">if</span> (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="comment">// Copy fields first, then transform</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keywordflow">if</span> (copy_all_fields)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i] = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]];</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="comment">//cloud_out.points[i].getVector3fMap() = transform * cloud_in.points[i].getVector3fMap ();</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      Eigen::Matrix&lt;Scalar, 3, 1&gt; pt (cloud_in[indices[i]].x, cloud_in[indices[i]].y, cloud_in[indices[i]].z);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      cloud_out[i].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (0, 0) * pt.coeffRef (0) + transform (0, 1) * pt.coeffRef (1) + transform (0, 2) * pt.coeffRef (2) + transform (0, 3));</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      cloud_out[i].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (1, 0) * pt.coeffRef (0) + transform (1, 1) * pt.coeffRef (1) + transform (1, 2) * pt.coeffRef (2) + transform (1, 3));</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      cloud_out[i].z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (2, 0) * pt.coeffRef (0) + transform (2, 1) * pt.coeffRef (1) + transform (2, 2) * pt.coeffRef (2) + transform (2, 3));</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="comment">// Rotate normals</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <span class="comment">//cloud_out.points[i].getNormalVector3fMap() = transform.rotation () * cloud_in.points[i].getNormalVector3fMap ();</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      Eigen::Matrix&lt;Scalar, 3, 1&gt; nt (cloud_in[indices[i]].normal_x, cloud_in[indices[i]].normal_y, cloud_in[indices[i]].normal_z);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      cloud_out[i].normal_x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (0, 0) * nt.coeffRef (0) + transform (0, 1) * nt.coeffRef (1) + transform (0, 2) * nt.coeffRef (2));</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      cloud_out[i].normal_y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (1, 0) * nt.coeffRef (0) + transform (1, 1) * nt.coeffRef (1) + transform (1, 2) * nt.coeffRef (2));</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      cloud_out[i].normal_z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (2, 0) * nt.coeffRef (0) + transform (2, 1) * nt.coeffRef (1) + transform (2, 2) * nt.coeffRef (2));</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    }</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  }</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="comment">// Dataset might contain NaNs and Infs, so check for them first.</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  {</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <span class="comment">// Copy fields first, then transform</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="keywordflow">if</span> (copy_all_fields)</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i] = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]];</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].x) || </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          !pcl_isfinite (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].y) || </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;          !pcl_isfinite (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].z))</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="comment">//cloud_out.points[i].getVector3fMap() = transform * cloud_in.points[i].getVector3fMap ();</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      Eigen::Matrix&lt;Scalar, 3, 1&gt; pt (cloud_in[indices[i]].x, cloud_in[indices[i]].y, cloud_in[indices[i]].z);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      cloud_out[i].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (0, 0) * pt.coeffRef (0) + transform (0, 1) * pt.coeffRef (1) + transform (0, 2) * pt.coeffRef (2) + transform (0, 3));</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      cloud_out[i].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (1, 0) * pt.coeffRef (0) + transform (1, 1) * pt.coeffRef (1) + transform (1, 2) * pt.coeffRef (2) + transform (1, 3));</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      cloud_out[i].z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (2, 0) * pt.coeffRef (0) + transform (2, 1) * pt.coeffRef (1) + transform (2, 2) * pt.coeffRef (2) + transform (2, 3));</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="comment">// Rotate normals</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="comment">//cloud_out.points[i].getNormalVector3fMap() = transform.rotation () * cloud_in.points[i].getNormalVector3fMap ();</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      Eigen::Matrix&lt;Scalar, 3, 1&gt; nt (cloud_in[indices[i]].normal_x, cloud_in[indices[i]].normal_y, cloud_in[indices[i]].normal_z);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      cloud_out[i].normal_x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (0, 0) * nt.coeffRef (0) + transform (0, 1) * nt.coeffRef (1) + transform (0, 2) * nt.coeffRef (2));</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      cloud_out[i].normal_y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (1, 0) * nt.coeffRef (0) + transform (1, 1) * nt.coeffRef (1) + transform (1, 2) * nt.coeffRef (2));</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      cloud_out[i].normal_z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform (2, 0) * nt.coeffRef (0) + transform (2, 1) * nt.coeffRef (1) + transform (2, 2) * nt.coeffRef (2));</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    }</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  }</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;}</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="group__common.html#gaff524851ffbcbefdbef2277134382906">  287</a></span>&#160;<a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;                          <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out,</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                          <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 3, 1&gt; &amp;offset, </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                          <span class="keyword">const</span> Eigen::Quaternion&lt;Scalar&gt; &amp;rotation,</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;                          <span class="keywordtype">bool</span> copy_all_fields)</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;{</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  Eigen::Translation&lt;Scalar, 3&gt; translation (offset);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <span class="comment">// Assemble an Eigen Transform</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; t (translation * rotation);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">transformPointCloud</a> (cloud_in, cloud_out, t, copy_all_fields);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;}</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">  301</a></span>&#160;<a class="code" href="group__common.html#ga01dcf9e24dec3109a0c8a8b8f2e24bcc">pcl::transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;                                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out,</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;                                     <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 3, 1&gt; &amp;offset, </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;                                     <span class="keyword">const</span> Eigen::Quaternion&lt;Scalar&gt; &amp;rotation,</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;                                     <span class="keywordtype">bool</span> copy_all_fields)</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;{</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  Eigen::Translation&lt;Scalar, 3&gt; translation (offset);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  <span class="comment">// Assemble an Eigen Transform</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; t (translation * rotation);</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <a class="code" href="group__common.html#ga01dcf9e24dec3109a0c8a8b8f2e24bcc">transformPointCloudWithNormals</a> (cloud_in, cloud_out, t, copy_all_fields);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;}</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a></div>
<div class="line"><a name="l00315"></a><span class="lineno"><a class="line" href="group__common.html#ga1bd2c5ea1258af3a45483dd1341aa429">  315</a></span>&#160;<a class="code" href="group__common.html#ga1bd2c5ea1258af3a45483dd1341aa429">pcl::transformPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;                     <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform)</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;{</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> ret = point;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  ret.getVector3fMap () = transform * point.getVector3fMap ();</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="keywordflow">return</span> (ret);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;}</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a></div>
<div class="line"><a name="l00326"></a><span class="lineno"><a class="line" href="group__common.html#ga6eddef43d5bd5211fcbd774c87962314">  326</a></span>&#160;<a class="code" href="group__common.html#ga6eddef43d5bd5211fcbd774c87962314">pcl::transformPointWithNormal</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;                     <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform)</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;{</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> ret = point;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  ret.getVector3fMap () = transform * point.getVector3fMap ();</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  ret.getNormalVector3fMap () = transform.rotation () * point.getNormalVector3fMap ();</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <span class="keywordflow">return</span> (ret);</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;}</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;pcl::getPrincipalTransformation (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;                                 Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform)</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;{</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  EIGEN_ALIGN16 Eigen::Matrix&lt;Scalar, 3, 3&gt; covariance_matrix;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  Eigen::Matrix&lt;Scalar, 4, 1&gt; centroid;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a> (cloud, covariance_matrix, centroid);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  EIGEN_ALIGN16 Eigen::Matrix&lt;Scalar, 3, 3&gt; eigen_vects;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  Eigen::Matrix&lt;Scalar, 3, 1&gt; eigen_vals;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a> (covariance_matrix, eigen_vects, eigen_vals);</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <span class="keywordtype">double</span> rel1 = eigen_vals.coeff (0) / eigen_vals.coeff (1);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  <span class="keywordtype">double</span> rel2 = eigen_vals.coeff (1) / eigen_vals.coeff (2);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  transform.translation () = centroid.head (3);</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  transform.linear () = eigen_vects;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  <span class="keywordflow">return</span> (std::min (rel1, rel2));</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;}</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="agroup__common_html_ga01dcf9e24dec3109a0c8a8b8f2e24bcc"><div class="ttname"><a href="group__common.html#ga01dcf9e24dec3109a0c8a8b8f2e24bcc">pcl::transformPointCloudWithNormals</a></div><div class="ttdeci">void transformPointCloudWithNormals(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Matrix&lt; Scalar, 4, 4 &gt; &amp;transform, bool copy_all_fields=true)</div><div class="ttdoc">Transform a point cloud and rotate its normals using an Eigen transform.</div><div class="ttdef"><b>Definition:</b> transforms.h:307</div></div>
<div class="ttc" id="agroup__common_html_ga1bd2c5ea1258af3a45483dd1341aa429"><div class="ttname"><a href="group__common.html#ga1bd2c5ea1258af3a45483dd1341aa429">pcl::transformPoint</a></div><div class="ttdeci">PointT transformPoint(const PointT &amp;point, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform)</div><div class="ttdoc">Transform a point with members x,y,z</div><div class="ttdef"><b>Definition:</b> transforms.hpp:315</div></div>
<div class="ttc" id="agroup__common_html_ga52d532f7f2b4d7bba78d13701d3a33d8"><div class="ttname"><a href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a></div><div class="ttdeci">void transformPointCloud(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform, bool copy_all_fields=true)</div><div class="ttdoc">Apply an affine transform defined by an Eigen Transform</div><div class="ttdef"><b>Definition:</b> transforms.hpp:42</div></div>
<div class="ttc" id="agroup__common_html_ga6eddef43d5bd5211fcbd774c87962314"><div class="ttname"><a href="group__common.html#ga6eddef43d5bd5211fcbd774c87962314">pcl::transformPointWithNormal</a></div><div class="ttdeci">PointT transformPointWithNormal(const PointT &amp;point, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform)</div><div class="ttdoc">Transform a point with members x,y,z,normal_x,normal_y,normal_z</div><div class="ttdef"><b>Definition:</b> transforms.hpp:326</div></div>
<div class="ttc" id="agroup__common_html_ga72dfb6e965df9752c88790e026a8ab5f"><div class="ttname"><a href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single lo...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:489</div></div>
<div class="ttc" id="agroup__common_html_gaca873868052e7d26efcf4b684a17bef2"><div class="ttname"><a href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:251</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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